QT-opengl实现点云读取和显示

先说一件小事——自己被上了一课。
今天被外面的人委托做一个点云拼接，用到pcl库，拼接的效果奇差，无论怎么修改参数都不行。
然后人家发给我一块完整的点云给我看。
我气不打一处来，说这块点云一定是扫描出来的，不是拼接的。
人家立刻就说，这实际上是用空间特征进行配准做出来的。
我变得哑口无言——我太自大了，我以为自己弄不出的东西别人也弄不出。
也许我被这种自大的心态蒙蔽了很久，但是我不想就这样止步不前。
其实这个世界上有很多更先进的算法，自己做的东西也只是如同灰尘一般渺小。
也只有无数灰尘聚集在一起才有这遮蔽天空的能力。
也只有认可别人的成果自己才能进步，对吧？

好，我们来看一下今天要展示的东西：

这一次主要实现了

1.点云的读取与显示

2.相机可以进行简单旋转，旋转速度可以渐渐变慢

3.绘制立方体，加载纹理，鼠标右键与中键控制是否启用光照、融合。

4.利用opencv从摄像头中读取影像，转化为QT格式作为立方体的背景

h文件和Cpp文件链接如下：

http://download.csdn.net/download/qq_30547073/9977413

下面就是代码了，首先是CPP文件，很长啊抱歉：

#include "qscarletopenglinterface.h"

#include<QOpenGLShaderProgram>

#include<QDebug>

#include<QKeyEvent>

#include<QGLFormat>

#include<QImage>

#include<QString>

#include<QMessageBox>

#include<glut.h>

//=====Eigen

#include<Eigen/Core>

#include<Eigen/Dense>

//=====std

#include<vector>

#include<fstream>

#include<iostream>

#include<string>

//========opencv

#include<opencv2/core/core.hpp>

#include<opencv2/highgui/highgui.hpp>

#include<opencv2/imgproc/imgproc.hpp>

using namespace cv;

using namespace Eigen;

using namespace std;

//Qt5 把 OpenGL 1~4 的版本的接口自己封装了，所以很多第三方库的 gl 函数在 Qt 编译环境下都无法 link 到

qScarletOpenglInterface::qScarletOpenglInterface(QWidget*parent)

    :QOpenGLWidget(parent)

{

}

//这里定义了三个数组，它们描述的是和光源有关的信息

//如果没有环境光，未被漫射光照到的地方会变得十分黑暗。

//第二行有关lightDiffuse的代码使我们生成最亮的漫射光。所有的参数值都取成最大值1.0。它将照在我们木板箱的前面，看起来挺好。

GLfloat lightAmbient[4] = { 0.5, 0.5, 0.5, 1.0 };

GLfloat lightDiffuse[4] = { 0.5, 0.0, 1.0, 1.0 };

GLfloat lightPosition[4] = { 0.0, 0.0, 2.0, 1.0 };

GLuint fogMode[3] = { GL_EXP, GL_EXP2, GL_LINEAR };

GLfloat fogColor[4] = { 0.618, 0.0, 0.1, 1.0};

GLfloat BGColor[4] = { 0.0, 0.0, 0.0, 1.0};

int stdstrToi(std::string NumStr)

{

    std::stringstream stream(NumStr);

    int int_temp;

    stream >> int_temp;

    return int_temp;

}

double stdstrTod(std::string NumStr)//三个重载函数

{

    std::stringstream stream(NumStr);

    double double_temp;

    stream >> double_temp;

    return double_temp;

}

std::vector<std::string> StrSplit(std::string str, std::string pattern)//又来了，分割字符串

{

    std::string::size_type pos;

    std::vector<std::string> result;

    str += pattern;//扩展字符串以方便操作

    int size = str.size();

    for (int i = 0; i<size; i++)

    {

        pos = str.find(pattern, i);

        if (pos<size)

        {

            std::string s = str.substr(i, pos - i);

            result.push_back(s);

            i = pos + pattern.size() - 1;

        }

    }

    return result;

}

void qScarletOpenglInterface::Start()

{

    qDebug()<<"QOpengl Start!";

    setWindowTitle(tr("opengl demo"));

    fullscreen=false;//不全屏

    if (fullscreen)

        showFullScreen();

    rTri = 0.0;

    rQuad = 0.0;

    xRot =yRot=zRot =0.0;

    zoom = -10.0;//-5.0

    xSpeed = ySpeed = 0.0;

    filter = 0;

    ligtht = false;

    blend = false;

    fogFilter = 0;

    //下面是增强现实

    //cam.open(0);

    //clk.start(30);

    //QObject::connect(&clk, SIGNAL(timeout()), this, SLOT(updateWindow()));

}

void qScarletOpenglInterface::InitialOrigion()

{

    try

    {

        m_camera.open(0);

    }

    catch(...)

    {

        m_camera.open(1);

    }

    glEnable( GL_TEXTURE_2D );

    glShadeModel(GL_SMOOTH);

    glClearColor( 0.618, 0.0, 0.1, 0.5 );//红绿蓝

    glClearDepth(1.0);//设置深度缓存

    glEnable(GL_DEPTH_TEST);//启用深度测试。

    glDepthFunc(GL_LEQUAL);//所作深度测试的类型。

    glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);//真正精细的透视修正。这一行告诉OpenGL我们希望进行最好的透视修正。这会十分轻微的影响性能。

    glMatrixMode(GL_MODELVIEW);

    glLightfv( GL_LIGHT1, GL_AMBIENT, lightAmbient );

    glLightfv( GL_LIGHT1, GL_DIFFUSE, lightDiffuse );

    glLightfv( GL_LIGHT1, GL_POSITION, lightPosition );

    glEnable( GL_LIGHT1 );

    glColor4f( 1.0, 1.0, 1.0, 0.5 );

    glBlendFunc( GL_SRC_ALPHA, GL_ONE );

    glEnable( GL_BLEND );

    glDisable( GL_DEPTH_TEST );

    glLoadIdentity();

    gluLookAt(0, 0, 3, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0);      //设置照相机位置

    //glTranslatef(ptsCen.x,ptsCen.y,ptsCen.z);

    glRotatef(thetaX, 1, 0, 0);

    glRotatef(thetaY, 0, 1, 0);

    glScalef(scaleFactor, scaleFactor, scaleFactor);

    glTranslatef(-px, -py, -pz);

}

void qScarletOpenglInterface::InitialFog()//烟雾程序初始化

{

    loadGLTextures();

    glEnable( GL_TEXTURE_2D );

    glShadeModel( GL_SMOOTH );

    //0.618, 0.0, 0.1, 0.5

    glClearColor( fogColor[0],fogColor[1],fogColor[2],fogColor[3]);

    glClearDepth( 1.0 );

    glEnable( GL_DEPTH_TEST );

    glDepthFunc( GL_LEQUAL );

    glHint( GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST );

    glLightfv( GL_LIGHT1, GL_AMBIENT, lightAmbient );

    glLightfv( GL_LIGHT1, GL_DIFFUSE, lightDiffuse );

    glLightfv( GL_LIGHT1, GL_POSITION, lightPosition );

    glEnable( GL_LIGHT1 );

    glFogi( GL_FOG_MODE, fogMode[fogFilter] );

    glFogfv( GL_FOG_COLOR, fogColor );//设定了雾的颜色

    glFogf( GL_FOG_DENSITY, 0.35 );//确定了雾的密度，增大这个数值雾将会变的更浓，减小它雾将会变的更淡

    glHint( GL_FOG_HINT, GL_NICEST );//

    //GK_DONT_CARE：让OPENGL自己来确定雾的渲染方式，每顶点或是每像素。

    //GL_NICEST：对每一像素进行雾的渲染，它看起来极棒

    glFogf( GL_FOG_END, 5.0 );//确定了雾的开始初离屏幕有多近。

    glEnable(GL_FOG);

}

void qScarletOpenglInterface::InitialAugmentedReality()//增强现实

{

    qDebug()<<"QOpengl AugmentedReality Start!";

    //loadGLTextures_AugmentedReality();//加载图片文件

    glEnable(GL_TEXTURE_2D);//启用纹理

    glShadeModel(GL_SMOOTH);

    glClearColor(0, 0, 0.0, 0.0);

    glClearDepth(1.0);

    glEnable(GL_DEPTH_TEST);

    glDepthFunc(GL_LEQUAL);

    glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);

}

void qScarletOpenglInterface::initializeGL()

{

    //为当前环境初始化Opengl函数

    initializeOpenGLFunctions();

    Start();

    InitialOrigion();//光照和纹理还有融合

    //InitialFog();

    //InitialAugmentedReality();//所有的增强现实模块放到了另一个窗体中

}

void qScarletOpenglInterface::loadGLTextures()

{

    QImage tex, buf;

    //logo/box.png  logo/Scarletogo3.png

    if (!buf.load(":/logo/logo/Scarletogo3.png"))

    //if (!buf.load(":/logo/logo/box.png"))

    {

        qWarning( "Could not read image file, using single-color instead." );

        QImage dummy( 128, 128, QImage::Format_RGB32 );//Format_RGB32 Format_RGB888

        dummy.fill( Qt::green);

        buf = dummy;//如果载入不成功，自动生成一个128*128的32位色的绿色图片。

    }

    tex = QGLWidget::convertToGLFormat( buf );

    glGenTextures( 3, &m_texture[0] );

    glBindTexture( GL_TEXTURE_2D, m_texture[0] );

    glTexImage2D( GL_TEXTURE_2D, 0, 3, tex.width(), tex.height(), 0,

        GL_RGBA, GL_UNSIGNED_BYTE, tex.bits() );

    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST );

    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST );

    glBindTexture( GL_TEXTURE_2D, m_texture[1] );

    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR );

    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR );

    glTexImage2D( GL_TEXTURE_2D, 0, 3, tex.width(), tex.height(), 0,

                  GL_RGBA, GL_UNSIGNED_BYTE, tex.bits() );

    glBindTexture( GL_TEXTURE_2D, m_texture[2] );

    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR );

    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_NEAREST );

    gluBuild2DMipmaps( GL_TEXTURE_2D, GL_RGB, tex.width(), tex.height(), GL_RGBA, GL_UNSIGNED_BYTE, tex.bits() );

}

void DrawBackGround(cv::VideoCapture m_camera,GLuint m_texturFrame)

{

    Mat frame1;

    m_camera >> frame1;

    cvtColor(frame1, frame1, CV_BGR2RGB);

    QImage tex_frame, buf_frame;

    //我们有两种方式生成纹理

    buf_frame = QImage((const unsigned char*)frame1.data, frame1.cols, frame1.rows, frame1.cols * frame1.channels(), QImage::Format_RGB888);

    tex_frame = QGLWidget::convertToGLFormat(buf_frame);

    glGenTextures(1, &m_texturFrame);//对应图片的纹理定义

    glBindTexture(GL_TEXTURE_2D, m_texturFrame);//进行纹理绑定

    glTexImage2D(GL_TEXTURE_2D, 0, 3, tex_frame.width(), tex_frame.height(), 0,

                 GL_RGBA, GL_UNSIGNED_BYTE, tex_frame.bits());

    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);

    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);

    glLoadIdentity();//重置坐标系至屏幕中央

    glTranslatef(3.2f, -0.6f, -100);//讲显示背景沿Z轴向后移动足够距离，防止遮挡渲染物体

    glScalef(8.35f,8.35f,1.0f);//平移 放大 实现窗口填充-

    glBindTexture(GL_TEXTURE_2D, m_texturFrame);//绑定纹理

    glBegin(GL_QUADS);//绘制图形接口，与glEnd()对应

    glTexCoord2f(0.0, 0.0); glVertex3f(-6, -4.5, 0);//

    glTexCoord2f(1.0, 0.0); glVertex3f(6, -4.5, 0);

    glTexCoord2f(1.0, 1.0); glVertex3f(6, 4.5, 0);

    glTexCoord2f(0.0, 1.0); glVertex3f(-6, 4.5, 0);

    glDeleteTextures(1, &m_texturFrame);//及时释放不然会占用很多内存空间使电脑卡死

    glEnd();

}

void DrawCub()

{

    glNormal3f( 0.0, 0.0, 1.0 );//设置外边界

    glTexCoord2f( 0.0, 0.0 ); glVertex3f( -1.0, -1.0,  1.0 );

    glTexCoord2f( 1.0, 0.0 ); glVertex3f(  1.0, -1.0,  1.0 );

    glTexCoord2f( 1.0, 1.0 ); glVertex3f(  1.0,  1.0,  1.0 );

    glTexCoord2f( 0.0, 1.0 ); glVertex3f( -1.0,  1.0,  1.0 );

    glNormal3f( 0.0, 0.0, -1.0 );

    glTexCoord2f( 1.0, 0.0 ); glVertex3f( -1.0, -1.0, -1.0 );

    glTexCoord2f( 1.0, 1.0 ); glVertex3f( -1.0,  1.0, -1.0 );

    glTexCoord2f( 0.0, 1.0 ); glVertex3f(  1.0,  1.0, -1.0 );

    glTexCoord2f( 0.0, 0.0 ); glVertex3f(  1.0, -1.0, -1.0 );

    glNormal3f( 0.0, 1.0, 0.0 );

    glTexCoord2f( 0.0, 1.0 ); glVertex3f( -1.0,  1.0, -1.0 );

    glTexCoord2f( 0.0, 0.0 ); glVertex3f( -1.0,  1.0,  1.0 );

    glTexCoord2f( 1.0, 0.0 ); glVertex3f(  1.0,  1.0,  1.0 );

    glTexCoord2f( 1.0, 1.0 ); glVertex3f(  1.0,  1.0, -1.0 );

    glNormal3f( 0.0, -1.0, 0.0 );

    glTexCoord2f( 1.0, 1.0 ); glVertex3f( -1.0, -1.0, -1.0 );

    glTexCoord2f( 0.0, 1.0 ); glVertex3f(  1.0, -1.0, -1.0 );

    glTexCoord2f( 0.0, 0.0 ); glVertex3f(  1.0, -1.0,  1.0 );

    glTexCoord2f( 1.0, 0.0 ); glVertex3f( -1.0, -1.0,  1.0 );

    glNormal3f( 1.0, 0.0, 0.0 );

    glTexCoord2f( 1.0, 0.0 ); glVertex3f(  1.0, -1.0, -1.0 );

    glTexCoord2f( 1.0, 1.0 ); glVertex3f(  1.0,  1.0, -1.0 );

    glTexCoord2f( 0.0, 1.0 ); glVertex3f(  1.0,  1.0,  1.0 );

    glTexCoord2f( 0.0, 0.0 ); glVertex3f(  1.0, -1.0,  1.0 );

    glNormal3f( -1.0, 0.0, 0.0 );

    glTexCoord2f( 0.0, 0.0 ); glVertex3f( -1.0, -1.0, -1.0 );

    glTexCoord2f( 1.0, 0.0 ); glVertex3f( -1.0, -1.0,  1.0 );

    glTexCoord2f( 1.0, 1.0 ); glVertex3f( -1.0,  1.0,  1.0 );

    glTexCoord2f( 0.0, 1.0 ); glVertex3f( -1.0,  1.0, -1.0 );

}

void DrawCloud(std::vector<PointCloud> m_TenRabbit)//十倍兔

{

    for(int i=0;i<m_TenRabbit.size();i++)

    {

        PointCloud OneP =m_TenRabbit[i];

        GLdouble x =OneP.x*10;

        GLdouble y =OneP.y*10;

        GLdouble z =OneP.z*10;

        glVertex3d(x,y,z);

    }

}

void qScarletOpenglInterface::ReadAndShowCloud(QString Q_FileName)

{

    ifDrawTenRabbit = false;

    //只针对兔子数据

    std::string SelectedCloudPath = Q_FileName.toStdString();

    std::cout<<SelectedCloudPath<<std::endl;

    ifstream CloudReader(SelectedCloudPath);

    if(!CloudReader)

    {

        cout<<"ReadCloudFileToGLWrong!";

        return;

    }

    PointCloud OnePoint;

    while(!CloudReader.eof())

    {

        std::string Line;

        getline(CloudReader,Line);

        std::vector<std::string> StrVec = StrSplit(Line, std::string(" "));

        OnePoint.x = stdstrTod(StrVec[0]);

        OnePoint.y = stdstrTod(StrVec[1]);

        OnePoint.z = stdstrTod(StrVec[2]);

//        OnePoint.r = stdstrTod(StrVec[3]);

//        OnePoint.g = stdstrTod(StrVec[4]);

//        OnePoint.b = stdstrTod(StrVec[5]);

        OnePoint.r = 0;

        OnePoint.g = 255;

        OnePoint.b = 126;

        m_TenRabbit.push_back(OnePoint);

    }

    CloudReader.close();

    OnePoint=m_TenRabbit[0];

    cout<<OnePoint.x<<" "<<OnePoint.y<<" "<<OnePoint.z<<" "<<OnePoint.r<<" "<<OnePoint.g<<" "<<OnePoint.b<<endl;

    OnePoint=m_TenRabbit[m_TenRabbit.size()-1];

    cout<<OnePoint.x<<" "<<OnePoint.y<<" "<<OnePoint.z<<" "<<OnePoint.r<<" "<<OnePoint.g<<" "<<OnePoint.b<<endl;

    ifDrawTenRabbit = true;

    QMessageBox myMessageBox(

                QMessageBox::Information,tr("ReadCloud OK!"),

                tr("Cloud is already read!"),

                QMessageBox::Yes);

    int ExecIndex =myMessageBox.exec();

}

void qScarletOpenglInterface::paintGL_TextureAndLight()

{

    //loadGLTextures();

    glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );

    //DrawBackGround(m_camera, m_texturFrame);//绘制背景======

    glLoadIdentity();   

    glTranslatef(  0.0,  0.0, zoom );

    glRotatef( xRot,  1.0,  0.0,  0.0 );

    glRotatef( yRot,  0.0,  1.0,  0.0 );

    glBindTexture( GL_TEXTURE_2D, m_texture[filter] );

    glBegin( GL_QUADS );//绘制立方体===============

    DrawCub();

    glEnd();

    if(ifDrawTenRabbit == true)

    {

        glBegin( GL_POINTS );

        //DrawCloud(m_TenRabbit);//绘制十倍兔===============

        glEnd();

    }

    //这里绘制正方体的方法，上一章已经讲解过了。

    //将xRot和yRot的旋转值分别增加xSpeed和ySpeed个单位。xSpeed和ySpeed的值越大，立方体转得就越快。

    xRot += xSpeed;

    yRot += ySpeed;

    SetAirShutDown(0.025);

    glLoadIdentity();

    //你每次paint的时候都要调用

    if ( !ligtht )//是否光照

    {

      glDisable( GL_LIGHTING );

    }

    else

    {

      glEnable( GL_LIGHTING );

    }

    if ( blend )//是否融合

    {

      glEnable( GL_BLEND );

      glDisable( GL_DEPTH_TEST );

    }

    else

    {

      glDisable( GL_BLEND );

      glEnable( GL_DEPTH_TEST );

    }

}

void qScarletOpenglInterface::SetAirShutDown(double airShutDown)//空气阻尼降低速度

{

    if(xSpeed>0)

    {

        xSpeed-=airShutDown;

        if(xSpeed<=0)

            xSpeed =0;

    }

    else if(xSpeed <0)

    {

        xSpeed+=airShutDown;

        if(xSpeed>=0)

            xSpeed =0;

    }

    if(ySpeed>0)

    {

        ySpeed-=airShutDown;

        if(ySpeed<=0)

            ySpeed =0;

    }

    else if(ySpeed <0)

    {

        ySpeed+=airShutDown;

        if(ySpeed>=0)

            ySpeed =0;

    }

}

void qScarletOpenglInterface::paintGL_Fog()//绘制雾

{

    glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );

    glLoadIdentity();

    glTranslatef(  0.0,  0.0, zoom );

    glRotatef( xRot,  1.0,  0.0,  0.0 );

    glRotatef( yRot,  0.0,  1.0,  0.0 );

    glBindTexture( GL_TEXTURE_2D, m_texture[filter] );

    glBegin( GL_QUADS );

    glNormal3f( 0.0, 0.0, 1.0 );

    glTexCoord2f( 0.0, 0.0 ); glVertex3f( -1.0, -1.0,  1.0 );

    glTexCoord2f( 1.0, 0.0 ); glVertex3f(  1.0, -1.0,  1.0 );

    glTexCoord2f( 1.0, 1.0 ); glVertex3f(  1.0,  1.0,  1.0 );

    glTexCoord2f( 0.0, 1.0 ); glVertex3f( -1.0,  1.0,  1.0 );

    glNormal3f( 0.0, 0.0, -1.0 );

    glTexCoord2f( 1.0, 0.0 ); glVertex3f( -1.0, -1.0, -1.0 );

    glTexCoord2f( 1.0, 1.0 ); glVertex3f( -1.0,  1.0, -1.0 );

    glTexCoord2f( 0.0, 1.0 ); glVertex3f(  1.0,  1.0, -1.0 );

    glTexCoord2f( 0.0, 0.0 ); glVertex3f(  1.0, -1.0, -1.0 );

    glNormal3f( 0.0, 1.0, 0.0 );

    glTexCoord2f( 0.0, 1.0 ); glVertex3f( -1.0,  1.0, -1.0 );

    glTexCoord2f( 0.0, 0.0 ); glVertex3f( -1.0,  1.0,  1.0 );

    glTexCoord2f( 1.0, 0.0 ); glVertex3f(  1.0,  1.0,  1.0 );

    glTexCoord2f( 1.0, 1.0 ); glVertex3f(  1.0,  1.0, -1.0 );

    glNormal3f( 0.0, -1.0, 0.0 );

    glTexCoord2f( 1.0, 1.0 ); glVertex3f( -1.0, -1.0, -1.0 );

    glTexCoord2f( 0.0, 1.0 ); glVertex3f(  1.0, -1.0, -1.0 );

    glTexCoord2f( 0.0, 0.0 ); glVertex3f(  1.0, -1.0,  1.0 );

    glTexCoord2f( 1.0, 0.0 ); glVertex3f( -1.0, -1.0,  1.0 );

    glNormal3f( 1.0, 0.0, 0.0 );

    glTexCoord2f( 1.0, 0.0 ); glVertex3f(  1.0, -1.0, -1.0 );

    glTexCoord2f( 1.0, 1.0 ); glVertex3f(  1.0,  1.0, -1.0 );

    glTexCoord2f( 0.0, 1.0 ); glVertex3f(  1.0,  1.0,  1.0 );

    glTexCoord2f( 0.0, 0.0 ); glVertex3f(  1.0, -1.0,  1.0 );

    glNormal3f( -1.0, 0.0, 0.0 );

    glTexCoord2f( 0.0, 0.0 ); glVertex3f( -1.0, -1.0, -1.0 );

    glTexCoord2f( 1.0, 0.0 ); glVertex3f( -1.0, -1.0,  1.0 );

    glTexCoord2f( 1.0, 1.0 ); glVertex3f( -1.0,  1.0,  1.0 );

    glTexCoord2f( 0.0, 1.0 ); glVertex3f( -1.0,  1.0, -1.0 );

    glEnd();

     //这里绘制正方体的方法，上一章已经讲解过了。

    xRot += xSpeed;

    yRot += ySpeed;

    SetAirShutDown(0.025);

    glLoadIdentity();

}

void qScarletOpenglInterface::paintGL()//不会自动调用paintGL的

{

    //Paint_DrawPoint();

    //paintGL_RotateTriQuad();

   // paintGL_RotatePyramid();

    //paintGL_DrawCloud();

    //paintGL_Texture();//绘制纹理

    //paintGL_Star();

    paintGL_TextureAndLight();//光照和纹理还有融合

    //paintGL_Fog();//绘制烟雾和box

    //paintGL_AugmentedReality();//绘制增强现实

    update();

}

void qScarletOpenglInterface::ResizeGL_Origion(int width ,int height)//改变大小

{

    if(0 == height)

    {

        height = 1; //防止height为0

    }

    loadGLTextures();

    glEnable( GL_TEXTURE_2D );

    glShadeModel( GL_SMOOTH );

    glClearColor(  fogColor[0],fogColor[1],fogColor[2],fogColor[3] );

    glClearDepth( 1.0 );

    glEnable( GL_DEPTH_TEST );

    glDepthFunc( GL_LEQUAL );

    glHint( GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST );

    glViewport(0, 0, (GLint)width, (GLint)height);//重置当前的视口（Viewport）。

    glLightfv( GL_LIGHT1, GL_AMBIENT, lightAmbient );

    glLightfv( GL_LIGHT1, GL_DIFFUSE, lightDiffuse );

    glLightfv( GL_LIGHT1, GL_POSITION, lightPosition );

    glEnable( GL_LIGHT1 );

    glMatrixMode(GL_PROJECTION);//选择投影矩阵。

    glLoadIdentity();//重置投影矩阵。

    //gluPerspective(25.0, (GLfloat)width/(GLfloat)height, 0.1, 100.0);//不会用就先别用

    GLdouble aspectRatio = (GLfloat)width/(GLfloat)height;

    GLdouble zNear = 0.1;

    GLdouble zFar = 100.0;

    GLdouble rFov = 45.0 * 3.14159265 / 180.0;

    glFrustum( -zNear * tan( rFov / 2.0 ) * aspectRatio,

               zNear * tan( rFov / 2.0 ) * aspectRatio,

               -zNear * tan( rFov / 2.0 ),

               zNear * tan( rFov / 2.0 ),

               zNear, zFar );

    glMatrixMode(GL_MODELVIEW);

    glLoadIdentity();

}

void qScarletOpenglInterface::ResizeFog()

{

}

void qScarletOpenglInterface::ResizeGL_AugmentedReality(int width ,int height)//增强现实改变大小

{

}

void qScarletOpenglInterface::resizeGL(int width ,int height)

{

    ResizeGL_Origion(width,height);

    //ResizeFog();

    //ResizeGL_AugmentedReality(width,height);

}

//各种事件=============

void qScarletOpenglInterface::mousePressEvent(QMouseEvent *e)

{

    if(e->button() == Qt::LeftButton)

    {

        qDebug()<<"GL_LeftmousePress!";

        last = e->globalPos();

    }

    else if(e->button() == Qt::RightButton)

    {

        qDebug()<<"GL_RightMousePress!";

        ligtht = !ligtht;

        update();

    }

    else

    {

        qDebug()<<"GL_MiddleMousePress!";

        blend = !blend;

    }

}

void qScarletOpenglInterface::mouseMoveEvent(QMouseEvent *e)

{

    qDebug()<<"GL_mouseMove!";

    int dx = e->globalX()-last.x();

    int dy = e->globalY()-last.y();

    ySpeed  +=(double)dx/60.0/3.0;//逆时针旋转速度增加

    xSpeed +=(double)dy/60.0/3.0;

    //move(x()+dx,y()+dy);

    last = e->globalPos();

}

void qScarletOpenglInterface::mouseReleaseEvent(QMouseEvent *e)//鼠标释放

{

    //int dx = e->globalX() - last.x();

    //int dy = e->globalY() - last.y();

    last = e->globalPos();

}

void qScarletOpenglInterface::wheelEvent(QWheelEvent *e)

{

//    当鼠标滑轮在滚动时用于返回滑动的距离，该值等于鼠标旋转角度的8倍。正数值表示滑轮相对于用户在向前滑动，

//    相反，负数值表示滑轮相对于用户是向后滑动的。

    int mydelta = e->delta();

    double ZoomSlowDown =2.5;

    zoom += (double)mydelta/8.0/15.0/ZoomSlowDown;

}

然后是头文件，当然头文件就少很多了

#ifndef QSCARLETOPENGLINTERFACE_H

#define QSCARLETOPENGLINTERFACE_H

#include<QOpenGLWidget>

#include<QOpenGLFunctions>

#include<QOpenGLShaderProgram>

#include<QOpenGLBuffer>

#include<QPoint>

#include<Eigen/Core>

#include<Eigen/Dense>

#include<QTimer>

#include<vector>

//========opencv

#include<opencv2/core/core.hpp>

#include<opencv2/highgui/highgui.hpp>

#include<opencv2/imgproc/imgproc.hpp>

typedef struct

{

    int ID;

    double x,y,z;

    double r,g,b;

}PointCloud;

typedef struct

{

  int r, g, b;

  GLfloat dist;

  GLfloat angle;

}stars;

const GLuint num = 50;

#define MIN_LENGTH 35

class qScarletOpenglInterface:public QOpenGLWidget,protected QOpenGLFunctions

{

    Q_OBJECT

public:

    explicit qScarletOpenglInterface(QWidget* parent =0);

    void ReadAndShowCloud(QString);

protected:

    //三个重载函数

    void initializeGL();

    void paintGL();

    void resizeGL(int ,int );

    QPoint last;

    void wheelEvent(QWheelEvent *);

    void mousePressEvent(QMouseEvent *);

    void mouseMoveEvent(QMouseEvent *);

    void mouseReleaseEvent(QMouseEvent *e);

private:

    bool fullscreen;//用来保存窗口是否处于全屏状态的变量。

    //====================几个paint实例

    GLfloat rTri;//用于三角形的角度

    GLfloat rQuad;//用于四边形的角度

    void Start();

    void InitialOrigion();

    void InitialFog();//烟雾程序初始化

    void InitialAugmentedReality();//增强现实

    void paintGL_RotateTriQuad();

    void paintGL_RotatePyramid();//绕自身旋转的金字塔

    void paintGL_Texture();//绘制纹理

    void paintGL_TextureAndLight();

    void paintGL_Fog();//绘制雾

    void ResizeGL_Origion(int width ,int height);//改变大小

    void ResizeFog();

    void ResizeGL_AugmentedReality(int width ,int height);//增强现实改变大小

    void loadGLTextures();//纹理映射,读取纹理

    void SetAirShutDown(double);//空气阻尼降低速度

    GLfloat xRot,yRot,zRot;

    GLuint m_texture[3];

    GLuint m_texturFrame; 

    GLfloat zoom;//光照等

    GLfloat xSpeed,ySpeed;

    GLuint filter;

    cv::VideoCapture m_camera;

    bool ligtht;

    bool blend;   

    QOpenGLShaderProgram * program;//这个作为着色器程序

    QOpenGLBuffer vbo;

    float xs, ys, zs, px, py, pz;

    float thetaX = 0.0, thetaY = 0.0, scaleFactor = 1.0;

    std::vector<PointCloud> m_TenRabbit;//测试点云

    bool ifDrawTenRabbit = false;

    //绘制点

    void Initial_DrawPoint();

    void Resize_DrawPoint();

    void Paint_DrawPoint();

};

//======================在这里准备放置一个官方logo例子==================

#endif // QSCARLETOPENGLINTERFACE_H